Kinematics of Adaptive Truss Permitting Nodal Offset (Configuration and Workspace Reach

The adaptive truss structure of statically determinate topology has a capa bility to perform the required task and to meet the environment by adapting its geometrical configuration and mechanical properties. This article discusses the configuration and workspace reach of the practical model of the geometry adaptive truss of helical mast. At the preliminary stage, the kinematics of the ideal truss model is described. Then, the prac tical structure is investigated for the adaptive truss permitting the offsets at the truss nodes. The kinematics are formulated in the context of incremental analysis. The procedures to analyze the configuration and workspace reach are described in the context of the in cremental kinematics. Some illustrative case studies are also conducted.